Call sample-models from unittest/rnea.

unittest/rnea.cpp

@@ -4,6 +4,7 @@
 #include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
 #include "pinocchio/algorithm/rnea.hpp"
+#include "pinocchio/multibody/parser/sample-models.hpp"
 
 #include <iostream>
 
@@ -26,46 +27,8 @@ int main()
   using namespace Eigen;
   using namespace se3;
 
-
-  se3::Model model;
-  model.addBody(model.getBodyId("universe"),JointModelFreeFlyer(),SE3::Random(),Inertia::Random(),"root");
-
-  model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg1");
-  model.addBody(model.getBodyId("rleg1"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg2");
-  model.addBody(model.getBodyId("rleg2"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg3");
-  model.addBody(model.getBodyId("rleg3"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg4");
-  model.addBody(model.getBodyId("rleg4"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg5");
-  model.addBody(model.getBodyId("rleg5"),JointModelRX(),SE3::Random(),Inertia::Random(),"rleg6");
-
-  model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg1");
-  model.addBody(model.getBodyId("lleg1"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg2");
-  model.addBody(model.getBodyId("lleg2"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg3");
-  model.addBody(model.getBodyId("lleg3"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg4");
-  model.addBody(model.getBodyId("lleg4"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg5");
-  model.addBody(model.getBodyId("lleg5"),JointModelRX(),SE3::Random(),Inertia::Random(),"lleg6");
-
-  model.addBody(model.getBodyId("root"),JointModelRX(),SE3::Random(),Inertia::Random(),"torso1");
-  model.addBody(model.getBodyId("torso1"),JointModelRX(),SE3::Random(),Inertia::Random(),"torso2");
-  //model.addBody(model.getBodyId("torso2"),JointModelRX(),SE3::Random(),Inertia::Random(),"torso3");
-  model.addBody(model.getBodyId("torso2"),JointModelRX(),SE3::Random(),Inertia::Random(),"neck1");
-  model.addBody(model.getBodyId("neck1"),JointModelRX(),SE3::Random(),Inertia::Random(),"neck2");
-  //model.addBody(model.getBodyId("neck2"),JointModelRX(),SE3::Random(),Inertia::Random(),"neck3");
-
-  model.addBody(model.getBodyId("torso2"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm1");
-  model.addBody(model.getBodyId("rarm1"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm2");
-  model.addBody(model.getBodyId("rarm2"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm3");
-  model.addBody(model.getBodyId("rarm3"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm4");
-  model.addBody(model.getBodyId("rarm4"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm5");
-  model.addBody(model.getBodyId("rarm5"),JointModelRX(),SE3::Random(),Inertia::Random(),"rarm6");
-  model.addBody(model.getBodyId("rarm6"),JointModelRX(),SE3::Random(),Inertia::Random(),"rgrip");
-
-  model.addBody(model.getBodyId("torso2"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm1");
-  model.addBody(model.getBodyId("larm1"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm2");
-  model.addBody(model.getBodyId("larm2"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm3");
-  model.addBody(model.getBodyId("larm3"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm4");
-  model.addBody(model.getBodyId("larm4"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm5");
-  model.addBody(model.getBodyId("larm5"),JointModelRX(),SE3::Random(),Inertia::Random(),"larm6");
-  model.addBody(model.getBodyId("larm6"),JointModelRX(),SE3::Random(),Inertia::Random(),"lgrip");
+  se3::Model model; buildModels::humanoidSimple(model);
+  
 
   se3::Data data(model);
   data.v[0] = Motion::Zero();